Running original EuRoC rosbags

[chen12345678910]

I want to run multi-agent on the original euroc dataset. How do I implement it?

[lucaBartolomei]

Hi, have you check these instructions, or are you trying to do something different?

[chen12345678910]

I want to use the euroc data set downloaded from the website instead of the data set in pose_graph_backend,how can I do this?

[lucaBartolomei]

So you want to run the pose graph using the original EuRoC rosbags, right? This is possible, it will just require a minimal adaptation of the instructions in the README.

Similarly to the general case, you will need to do the following:

• When running the pose graph backend, specify the number of agents you need
• Run the vins_estimator and pcl_fusion nodes for each agent, specifying the IDs of the agents
• Play the EuRoC rosbags using the launch files pose_graph_backend/launch/multi_agent_play_0.launch specifying the path to the rosbags (of course, you will need to run this launch file for each agent)

I hope this gets you started.

[lucaBartolomei]

Closing this issue because it's inactive - feel free to re-open it in case you need additional help.